/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "Joint.hpp"

#include <cfloat>

using namespace rw::models;
using namespace rw::math;

Joint::Joint (const std::string& name, size_t dof) :
    Frame ((int) dof, name), _bounds (Q (dof), Q (dof)), _maxVelocity (Q (dof)),
    _maxAcceleration (Q (dof)), _isActive (true)
{
    for (size_t i = 0; i < dof; i++) {
        _bounds.first (i)    = -DBL_MAX;
        _bounds.second (i)   = DBL_MAX;
        _maxVelocity (i)     = 1;
        _maxAcceleration (i) = 1;
    }
}

Joint::Joint (const std::string& name, size_t dof, size_t stateSize) :
    Frame ((int) dof, name), _bounds (Q (dof), Q (dof)), _maxVelocity (Q (dof)),
    _maxAcceleration (Q (dof)), _isActive (true)
{
    for (size_t i = 0; i < dof; i++) {
        _bounds.first (i)    = -DBL_MAX;
        _bounds.second (i)   = DBL_MAX;
        _maxVelocity (i)     = 1;
        _maxAcceleration (i) = 1;
    }
}
